octree_change_publisher.h

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// -*- mode: C++ -*-
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#ifndef __JSK_PCL_ROS_OCTREE_CHANGE_PUBLISHER_H__
#define __JSK_PCL_ROS_OCTREE_CHANGE_PUBLISHER_H__

// ros
#include <ros/ros.h>
#include <sensor_msgs/PointCloud2.h>
#include <dynamic_reconfigure/server.h>
#include <jsk_pcl_ros/OctreeChangePublisherConfig.h>
#include <pcl_conversions/pcl_conversions.h>

// pcl
#include <pcl_ros/pcl_nodelet.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <jsk_topic_tools/connection_based_nodelet.h>

namespace jsk_pcl_ros
{
  class OctreeChangePublisher: public jsk_topic_tools::ConnectionBasedNodelet
  {
  public:
    typedef OctreeChangePublisherConfig Config;
  protected:
    int counter_;
    int noise_filter_;
    double resolution_;
    boost::mutex mtx_;

    ros::Subscriber sub_;
    ros::Publisher diff_pub_;
    pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZRGB> *octree_;
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr filtered_cloud;
    boost::shared_ptr <dynamic_reconfigure::Server<Config> > srv_;

    virtual void
    cloud_cb (const sensor_msgs::PointCloud2 &pc);
    virtual void subscribe();
    virtual void unsubscribe();
    virtual void config_callback(Config &config, uint32_t level);
  private:
    virtual void onInit();
  };
}

#endif